Merge pull request #73 from KBKN-Autonomous-Robotics-Lab/fix/nav2_loc…

…al_costmap

Fix/nav2 local costmap

orange_navigation/config/navigation2_params.yaml

@@ -179,21 +179,21 @@ controller_server_rclcpp_node:
 local_costmap:
   local_costmap:
     ros__parameters:
-      update_frequency: 5.0
-      publish_frequency: 2.0
+      update_frequency: 10.0
+      publish_frequency: 5.0
       global_frame: odom
       robot_base_frame: base_footprint
       use_sim_time: True
       rolling_window: true
       width: 8
       height: 8
       resolution: 0.05
-      footprint: "[ [0.2, 0.33], [0.2, -0.33], [-0.65, -0.33], [-0.65, 0.33] ]"
+      footprint: "[ [0.40, 0.45], [0.40, -0.45], [-0.70, -0.45], [-0.70, 0.45] ]"
       plugins: ["obstacle_layer", "inflation_layer"]
       inflation_layer:
         plugin: "nav2_costmap_2d::InflationLayer"
-        inflation_radius: 0.2
-        cost_scaling_factor: 30.0
+        inflation_radius: 0.3
+        cost_scaling_factor: 25.0
       obstacle_layer:
         plugin: "nav2_costmap_2d::ObstacleLayer"
         enabled: True
@@ -204,6 +204,8 @@ local_costmap:
           clearing: True
           marking: True
           data_type: "LaserScan"
+          clearing_radius: 1.0
+          raytrace_range: 5.0
       static_layer:
         map_subscribe_transient_local: True
       always_send_full_costmap: True